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Exponential Consensus with Decay Rate Estimation for Heterogeneous Multi-Agent Systems

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Abstract

This paper presents an analysis method, based on linear matrix inequalities, for consensus with estimated convergence rate, in the presence of input delays. It is assumed that the delays are nonuniform, time-varying, and possibly non-differentiable. The proposed approach consists in rewriting the multi-agent system as a reduced-order delayed linear system, such that consensus can be analyzed by means of Lyapunov-Krasovskii stability theory. Finally, the efficiency of the proposed method is verified by numerical simulations.

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Acknowledgements

To SENAI Innovation Institute for Microelectronics, FAPEAM, FAPEMIG, FAPESP, and CNPq.

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Authors and Affiliations

  1. Computer Institute, Federal University of Amazonas, Av. Rodrigo Otávio 6200, 69077-000, Manaus, AM, Brazil

    Carlos R. P. dos Santos Junior & José Reginaldo H. Carvalho

  2. Department of Electronic Engineering, Federal University of Minas Gerais, Av. Antônio Carlos 6627, 31270-901, Belo Horizonte, MG, Brazil

    Fernando O. Souza

  3. Institute of Computing, Federal University of Alagoas, Av. Lourival de Melo Mota, 57072-900, Maceio, AL, Brazil

    Heitor J. Savino

Authors
  1. Carlos R. P. dos Santos Junior
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  2. José Reginaldo H. Carvalho
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  3. Fernando O. Souza
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  4. Heitor J. Savino
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Corresponding author

Correspondence to Carlos R. P. dos Santos Junior.

Additional information

This paper is partially sponsored by SENAI Innovation Institute for Microelectronics, DRONI Project (CNPq 402112/2013-0), INCT on Collaborative Autonomous Systems-InSAC (CNPq 465755/2014-3), FAPESP 2014/50851-0 and FAPEMIG APQ-00543-17.

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dos Santos Junior, C.R.P., Carvalho, J.R.H., Souza, F.O. et al. Exponential Consensus with Decay Rate Estimation for Heterogeneous Multi-Agent Systems. J Intell Robot Syst 95, 543–553 (2019). https://doi.org/10.1007/s10846-018-0782-z

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  • DOI: https://doi.org/10.1007/s10846-018-0782-z

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